Publications

preprints

Multi-Agent Guided Policy Search for Non-Cooperative Dynamic Games

J. Li, G. Qu, J. J. Choi, S. Sojoudi, & C. J. Tomlin

arXiv:2509.24226, 2025

paper
Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation

D. Baek, A. Purushottam, J. J. Choi, & J. Ramos

arXiv:2508.09846, 2025

paper
When are safety filters safe? On minimum phase conditions of Control Barrier Functions

J. J. Choi, S. Sastry, C. J. Tomlin, & K. Sreenath

arXiv:2508.07684, 2025

paper

2025

Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems

J. J. Choi*, F. Castaneda*, W. Jung*, B. Zhang, C. J. Tomlin, & K. Sreenath

IEEE Transactions on Robotics, 2025

paper
Data-Driven Hamiltonian for Direct Construction of Safe Set from Trajectory Data

J. J. Choi*, C. A. Strong*, K. Sreenath, N. Cho & C. J. Tomlin

IEEE Conference on Decision and Control, 2025

paper
Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety

J. J. Choi*, J. J. Aloor*, J. Li*, M. G. Mendoza, H. Balakrishnan, & C. J. Tomlin

Robotics: Science and Systems (RSS), 2025

paper
Recursively Feasible Probabilistic Safe Online Learning with Control Barrier Functions

F. Castaneda*, J. J. Choi*, W. Jung, B. Zhang, C. J. Tomlin, & K. Sreenath

Accepted to IEEE Open Journal of Control System (OJ-CSYS) (Special Section: Intersection of Machine Learning with Control), 2025

paper

2024

Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker

X. Xia*, J. J. Choi*, A. Agrawal, K. Sreenath, C. J. Tomlin, & S. Bansal

IEEE CDC, 2024

paper
Safety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanes

W. Lavanakul*, J. J. Choi*, K. Sreenath, & C. J. Tomlin

Annual Learning for Dynamics & Control Conference (L4DC), 2024

paper

2023 and Before

Towards Flight Envelope Protection for the NASA Tiltwing eVTOL Flight Mode Transition using Hamilton-Jacobi Reachability

T. Hsu, J. J. Choi, D. Amin, C. J. Tomlin, S. C. McWherter, & M. Piedmonte

Journal of the American Helicopter Society (JAHS), 2023

paper
Data-Driven Safety Filters: Hamilton-Jacobi Reachability, Control Barrier Functions, and Predictive Methods For Uncertain Systems

K. P. Wabersich*, A. J. Taylor*, J. J. Choi*, K. Sreenath, C. J. Tomlin, A. D. Ames, & M. N. Zeilinger

IEEE Control Systems Magazine (CSM), 2023

paper
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots

J. J. Choi, A. Agrawal, K. Sreenath, C. J. Tomlin, & S. Bansal

IEEE Robotics & Automation Letters (RA-L) (presented at ICRA 2022), 2022

paper
Lyapunov Density Models: Constraining Distribution Shift in Learning-Based Control

K. Kang, P. Gradu, J. J. Choi, M. Janner, C. Tomlin, & S. Levine

International Conf. on Machine Learning (ICML), 2022 (Acceptance rate: 22%)

paper
Robust Control Barrier-Value Functions for Safety-Critical Control

J. J. Choi, D. Lee, K. Sreenath, C. J. Tomlin, & S. Herbert

IEEE CDC, 2021

paper
Pointwise Feasibility of Gaussian Process-based Safety-Critical Control under Model Uncertainty

F. Castaneda*, J. J. Choi*, B. Zhang, C. J. Tomlin, & K. Sreenath

IEEE Conference on Decision and Control (CDC), 2021

paper
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability

S. Herbert*, J. J. Choi*, S. Sanjeev, M. Gibson, K. Sreenath, & C. J. Tomlin

IEEE International Conference on Robotics and Automation (ICRA), 2021

paper
Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects

F. Castaneda*, J. J. Choi*, B. Zhang, C. J. Tomlin, & K. Sreenath

American Control Conference (ACC), 2021

paper
Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions

J. J. Choi*, F. Castaneda*, C. J. Tomlin, & K. Sreenath

Robotics: Science and Systems (RSS), 2020 (Acceptance rate: 32%)

paper
Online Social Touch Pattern Recognition with Multi-modal-sensing Modular Tactile Interface

H. Ku*, J. J. Choi*, S. Jang*, W. Do*, S. Lee, & S. Seok

International Conference on Ubiquitous Robots (UR), 2019

paper